/*
 * Copyright 1993-2011 NVIDIA Corporation.  All rights reserved.
 *
 * NVIDIA Corporation and its licensors retain all intellectual property and 
 * proprietary rights in and to this software and related documentation. 
 * Any use, reproduction, disclosure, or distribution of this software 
 * and related documentation without an express license agreement from
 * NVIDIA Corporation is strictly prohibited.
 *
 * Please refer to the applicable NVIDIA end user license agreement (EULA) 
 * associated with this source code for terms and conditions that govern 
 * your use of this NVIDIA software.
 * 
 */
 //#define _CRTDBG_MAP_ALLOC
#include "StdAfx.h"
#include "common.h"
#include "HSOpticalFlow.h"

///////////////////////////////////////////////////////////////////////////////
/// \brief host texture fetch
///
/// read from arbitrary position within image using bilinear interpolation
/// out of range coords are mirrored
/// \param[in]  t   texture raw data
/// \param[in]  w   texture width
/// \param[in]  h   texture height
/// \param[in]  s   texture stride
/// \param[in]  x   x coord of the point to fetch value at
/// \param[in]  y   y coord of the point to fetch value at
/// \return fetched value
///////////////////////////////////////////////////////////////////////////////
inline float Tex2D(const float *t, int w, int h, int s, float x, float y)
{
	// integer parts in floating point format
    float intPartX, intPartY;

	// get fractional parts of coordinates
    float dx = fabsf(modff(x, &intPartX));
    float dy = fabsf(modff(y, &intPartY));

	// assume pixels are squares
	// one of the corners
	int ix0 = (int)intPartX;
    int iy0 = (int)intPartY;

	// mirror out-of-range position
    if (ix0 < 0) ix0 = abs(ix0 + 1);
    if (iy0 < 0) iy0 = abs(iy0 + 1);

    if (ix0 >= w) ix0 = w * 2 - ix0 - 1;
    if (iy0 >= h) iy0 = h * 2 - iy0 - 1;

	// corner which is opposite to (ix0, iy0)
    int ix1 = ix0 + 1;
    int iy1 = iy0 + 1;

    if (ix1 >= w) ix1 = w * 2 - ix1 - 1;
    if (iy1 >= h) iy1 = h * 2 - iy1 - 1;

    float
    res  = t[ix0 + iy0 * s] * (1.0f - dx) * (1.0f - dy);
    res += t[ix1 + iy0 * s] * dx * (1.0f - dy);
    res += t[ix0 + iy1 * s] * (1.0f - dx) * dy;
    res += t[ix1 + iy1 * s] * dx * dy;

    return res;
}

///////////////////////////////////////////////////////////////////////////////
/// \brief host texture fetch
///
/// read specific texel value
/// out of range coords are mirrored
/// \param[in]  t   texture raw data
/// \param[in]  w   texture width
/// \param[in]  h   texture height
/// \param[in]  s   texture stride
/// \param[in]  x   x coord of the point to fetch value at
/// \param[in]  y   y coord of the point to fetch value at
/// \return fetched value
///////////////////////////////////////////////////////////////////////////////
inline float Tex2Di(const float *src, int w, int h, int s, int x, int y)
{
    if (x < 0) x = abs(x + 1);
    if (y < 0) y = abs(y + 1);

    if (x >= w) x = w * 2 - x - 1;
    if (y >= h) y = h * 2 - y - 1;

    return src[x + y * s];
}

///////////////////////////////////////////////////////////////////////////////
/// \brief resize image
/// \param[in]  src         image to downscale
/// \param[in]  width       image width
/// \param[in]  height      image height
/// \param[in]  stride      image stride
/// \param[in]  newWidth    image new width
/// \param[in]  newHeight   image new height
/// \param[in]  newStride   image new stride
/// \param[out] out         downscaled image data
///////////////////////////////////////////////////////////////////////////////
static
void Downscale(const float *src, int width, int height, int stride, 
               int newWidth, int newHeight, int newStride, float *out)
{
    for (int i = 0; i < newHeight; ++i)
    {
        for (int j = 0; j < newWidth; ++j)
        {
            const int srcX = j * 2;
            const int srcY = i * 2;
            // average 4 neigbouring pixels
            float sum;
            sum  = Tex2Di(src, width, height, stride, srcX + 0, srcY + 0);
            sum += Tex2Di(src, width, height, stride, srcX + 0, srcY + 1);
            sum += Tex2Di(src, width, height, stride, srcX + 1, srcY + 0);
            sum += Tex2Di(src, width, height, stride, srcX + 1, srcY + 1);
            // normalize
            sum *= 0.25f;
            out[j + i * newStride] = sum;
        }
    }
}

///////////////////////////////////////////////////////////////////////////////
/// \brief upscale one component of a displacement field
/// \param[in]  src         field component to upscale
/// \param[in]  width       field current width
/// \param[in]  height      field current height
/// \param[in]  stride      field current stride
/// \param[in]  newWidth    field new width
/// \param[in]  newHeight   field new height
/// \param[in]  newStride   field new stride
/// \param[in]  scale       value scale factor (multiplier)
/// \param[out] out         upscaled field component
///////////////////////////////////////////////////////////////////////////////
static
void Upscale(const float *src, int width, int height, int stride,
             int newWidth, int newHeight, int newStride, float scale, float *out)
{
    for (int i = 0; i < newHeight; ++i)
    {
        for (int j = 0; j < newWidth; ++j)
        {
            // position within smaller image
            float x = ((float)j - 0.5f) * 0.5f;
            float y = ((float)i - 0.5f) * 0.5f;

            out[j + i * newStride] = Tex2D(src, width, height, stride, x, y) * scale;
        }
    }
}

///////////////////////////////////////////////////////////////////////////////
/// \brief warp image with provided vector field
/// 
/// For each output pixel there is a vector which tells which pixel 
/// from a source image should be mapped to this particular output
/// pixel.
/// It is assumed that images and the vector field have the same stride and
/// resolution.
/// \param[in]  src source image
/// \param[in]  w   width
/// \param[in]  h   height
/// \param[in]  s   stride
/// \param[in]  u   horizontal displacement
/// \param[in]  v   vertical displacement
/// \param[out] out warped image
///////////////////////////////////////////////////////////////////////////////
static
void WarpImage(const float *src, int w, int h, int s, 
               const float *u, const float *v, float *out)
{
    for (int i = 0; i < h; ++i)
    {
        for (int j = 0; j < w; ++j)
        {
            const int pos = j + i * s;
            // warped coords
            float x = (float)j + u[pos];
            float y = (float)i + v[pos];

            out[pos] = Tex2D(src, w, h, s, x, y);
        }
    }
}

///////////////////////////////////////////////////////////////////////////////
/// \brief computes image derivatives for a pair of images
/// \param[in]  I0  source image
/// \param[in]  I1  tracked image
/// \param[in]  w   images width
/// \param[in]  h   images height
/// \param[in]  s   images stride
/// \param[out] Ix  x derivative
/// \param[out] Iy  y derivative
/// \param[out] Iz  temporal derivative
///////////////////////////////////////////////////////////////////////////////
static
void ComputeDerivatives(const float *I0, const float *I1,
                        int w, int h, int s,
                        float *Ix, float *Iy, float *Iz)
{
    for (int i = 0; i < h; ++i)
    {
        for (int j = 0; j < w; ++j)
        {
            const int pos = j + i * s;
            float t0, t1;
			// derivative filter is (1, -8, 0, 8, -1)/12
            // x derivative
            t0  = Tex2Di(I0, w, h, s, j - 2, i);
            t0 -= Tex2Di(I0, w, h, s, j - 1, i) * 8.0f;
            t0 += Tex2Di(I0, w, h, s, j + 1, i) * 8.0f;
            t0 -= Tex2Di(I0, w, h, s, j + 2, i);
            t0 /= 12.0f;

            t1  = Tex2Di(I1, w, h, s, j - 2, i);
            t1 -= Tex2Di(I1, w, h, s, j - 1, i) * 8.0f;
            t1 += Tex2Di(I1, w, h, s, j + 1, i) * 8.0f;
            t1 -= Tex2Di(I1, w, h, s, j + 2, i);
            t1 /= 12.0f;

			// spatial derivatives are averaged
            Ix[pos] = (t0 + t1) * 0.5f;

            // t derivative
            Iz[pos] = I1[pos] - I0[pos];

            // y derivative
            t0  = Tex2Di(I0, w, h, s, j, i - 2);
            t0 -= Tex2Di(I0, w, h, s, j, i - 1) * 8.0f;
            t0 += Tex2Di(I0, w, h, s, j, i + 1) * 8.0f;
            t0 -= Tex2Di(I0, w, h, s, j, i + 2);
            t0 /= 12.0f;

            t1  = Tex2Di(I1, w, h, s, j, i - 2);
            t1 -= Tex2Di(I1, w, h, s, j, i - 1) * 8.0f;
            t1 += Tex2Di(I1, w, h, s, j, i + 1) * 8.0f;
            t1 -= Tex2Di(I1, w, h, s, j, i + 2);
            t1 /= 12.0f;

            Iy[pos] = (t0 + t1) * 0.5f;
        }
    }
}

///////////////////////////////////////////////////////////////////////////////
/// \brief one iteration of classical Horn-Schunck method
///
/// It is one iteration of Jacobi method for a corresponding linear system
/// \param[in]  du0     current horizontal displacement approximation
/// \param[in]  dv0     current vertical displacement approximation
/// \param[in]  Ix      image x derivative
/// \param[in]  Iy      image y derivative
/// \param[in]  Iz      temporal derivative
/// \param[in]  w       width
/// \param[in]  h       height
/// \param[in]  s       stride
/// \param[in]  alpha   degree of smoothness
/// \param[out] du1     new horizontal displacement approximation
/// \param[out] dv1     new vertical displacement approximation
///////////////////////////////////////////////////////////////////////////////
static
void SolveForUpdate(const float *du0, const float *dv0, const float *Ix,
                    const float *Iy, const float *Iz, int w, int h, int s,
                    float alpha, float *du1, float *dv1)
{
    for (int i = 0; i < h; ++i)
    {
        for (int j = 0; j < w; ++j)
        {
            const int pos = j + i * s;
            int left, right, up, down;

            // handle borders
            if (j != 0) 
                left = pos - 1;
            else
                left = pos;

            if (j != w - 1) 
                right = pos + 1;
            else
                right = pos;

            if (i != 0)
                down = pos - s;
            else
                down = pos;

            if (i != h - 1)
                up = pos + s;
            else
                up = pos;

            float sumU = (du0[left] + du0[right] + du0[up] + du0[down]) * 0.25f;
            float sumV = (dv0[left] + dv0[right] + dv0[up] + dv0[down]) * 0.25f;

            float frac = (Ix[pos] * sumU + Iy[pos] * sumV + Iz[pos])
                / (Ix[pos] * Ix[pos] + Iy[pos] * Iy[pos] + alpha);

            du1[pos] = sumU - Ix[pos] * frac;
            dv1[pos] = sumV - Iy[pos] * frac;
        }
    }
}

///////////////////////////////////////////////////////////////////////////////
/// \brief method logic
///
/// handles memory allocation and control flow
/// \param[in]  I0           source image
/// \param[in]  I1           tracked image
/// \param[in]  width        images width
/// \param[in]  height       images height
/// \param[in]  stride       images stride
/// \param[in]  alpha        degree of displacement field smoothness
/// \param[in]  nLevels      number of levels in a pyramid
/// \param[in]  nWarpIters   number of warping iterations per pyramid level
/// \param[in]  nSolverIters number of solver iterations (Jacobi iterations)
/// \param[out] u            horizontal displacement
/// \param[out] v            vertical displacement
///////////////////////////////////////////////////////////////////////////////
void ComputeHSOpticalFlow(const float *I0, const float *I1, 
                     int width, int height, int stride,
                     float alpha, int nLevels, 
                     int nWarpIters, int nSolverIters, float *u, float *v)
{
    printf("Computing optical flow on CPU...\n");

    float *u0 = u;
    float *v0 = v;

    const float **pI0 = new const float *[nLevels];
    const float **pI1 = new const float *[nLevels];

    int *pW = new int [nLevels];
    int *pH = new int [nLevels];
    int *pS = new int [nLevels];
	
	const int pixelCountAligned = height * stride;

    float *tmp = new float [pixelCountAligned];
    float *du0 = new float [pixelCountAligned];
    float *dv0 = new float [pixelCountAligned];
    float *du1 = new float [pixelCountAligned];
    float *dv1 = new float [pixelCountAligned];
    float *Ix  = new float [pixelCountAligned];
    float *Iy  = new float [pixelCountAligned];
    float *Iz  = new float [pixelCountAligned];
    float *nu  = new float [pixelCountAligned];
    float *nv  = new float [pixelCountAligned];

    // prepare pyramid
    int currentLevel = nLevels - 1;
    pI0[currentLevel] = I0;
    pI1[currentLevel] = I1;

    pW[currentLevel] = width;
    pH[currentLevel] = height;
    pS[currentLevel] = stride;

    for (; currentLevel > 0; --currentLevel)
    {
        int nw = pW[currentLevel] / 2;
        int nh = pH[currentLevel] / 2;
        int ns = iAlignUp(nw);
        pI0[currentLevel - 1] = new float [ns * nh];
        pI1[currentLevel - 1] = new float [ns * nh];

        Downscale(pI0[currentLevel], pW[currentLevel], pH[currentLevel],
            pS[currentLevel], nw, nh, ns, (float *)pI0[currentLevel - 1]);

        Downscale(pI1[currentLevel], pW[currentLevel], pH[currentLevel],
            pS[currentLevel], nw, nh, ns, (float *)pI1[currentLevel - 1]);

        pW[currentLevel - 1] = nw;
        pH[currentLevel - 1] = nh;
        pS[currentLevel - 1] = ns;
    }

    // initial appoximation
    memset(u, 0, stride * height * sizeof(float));
    memset(v, 0, stride * height * sizeof(float));
    // compute flow
    for (; currentLevel < nLevels; ++currentLevel)
    {
        for (int warpIter = 0; warpIter < nWarpIters; ++warpIter)
        {
            memset(du0, 0, pixelCountAligned * sizeof(float));
            memset(dv0, 0, pixelCountAligned * sizeof(float));

            memset(du1, 0, pixelCountAligned * sizeof(float));
            memset(dv1, 0, pixelCountAligned * sizeof(float));

            WarpImage(pI1[currentLevel], pW[currentLevel], pH[currentLevel],
                pS[currentLevel], u, v, tmp);

			// on current level we compute optical flow
			// between frame 0 and warped frame 1
            ComputeDerivatives(pI0[currentLevel], tmp, pW[currentLevel],
                pH[currentLevel], pS[currentLevel], Ix, Iy, Iz);

            for (int iter = 0; iter < nSolverIters; ++iter)
            {
                SolveForUpdate(du0, dv0, Ix, Iy, Iz, pW[currentLevel], pH[currentLevel],
                    pS[currentLevel], alpha, du1, dv1);
                Swap(du0, du1);
                Swap(dv0, dv1);
            }

            // update u, v
            for (int i = 0; i < pH[currentLevel] * pS[currentLevel]; ++i)
            {
                u[i] += du0[i];
                v[i] += dv0[i];
            }
        } // end for (int warpIter = 0; warpIter < nWarpIters; ++warpIter)

        if (currentLevel != nLevels - 1)
        {
            // prolongate solution
            float scaleX = (float)pW[currentLevel + 1]/(float)pW[currentLevel];

            Upscale(u, pW[currentLevel], pH[currentLevel], pS[currentLevel],
                pW[currentLevel + 1], pH[currentLevel + 1], pS[currentLevel + 1], scaleX, nu);

            float scaleY = (float)pH[currentLevel + 1]/(float)pH[currentLevel];

            Upscale(v, pW[currentLevel], pH[currentLevel], pS[currentLevel],
                pW[currentLevel + 1], pH[currentLevel + 1], pS[currentLevel + 1], scaleY, nv);

            Swap(u, nu);
            Swap(v, nv);
        }
    } // end for (; currentLevel < nLevels; ++currentLevel)
	
    if (u != u0)
    {
        // solution is not in the specified array
        // copy
        memcpy(u0, u, pixelCountAligned * sizeof(float));
        memcpy(v0, v, pixelCountAligned * sizeof(float));
        Swap(u, nu);
        Swap(v, nv);
    }
    // cleanup
    // last level is not being freed here 
    // because it refers to input images
    for (int i = 0; i < nLevels - 1; ++i)
    {
        delete [] pI0[i];
        delete [] pI1[i];
    }
    delete [] pI0;
    delete [] pI1;
    delete [] pW;
    delete [] pH;
    delete [] pS;
    delete [] tmp;
    delete [] du0;
    delete [] dv0;
    delete [] du1;
    delete [] dv1;
    delete [] Ix;
    delete [] Iy;
    delete [] Iz;
    delete [] nu;
    delete [] nv;
}
